quat_multiply Function

public pure function quat_multiply(a, b) result(q)

The product a*b: rotating by b, then by a.

Arguments

Type IntentOptional Attributes Name
real(kind=wp), intent(in) :: a(4)

quaternions [x, y, z, w]
real(kind=wp), intent(in) :: b(4)

quaternions [x, y, z, w]

Return Value real(kind=wp), (4)


Called by

proc~~quat_multiply~~CalledByGraph proc~quat_multiply quat_multiply proc~followed_pose followed_pose proc~followed_pose->proc~quat_multiply proc~world_matrix_at ReferenceFrame%world_matrix_at proc~followed_pose->proc~world_matrix_at proc~local_matrix_at ReferenceFrame%local_matrix_at proc~local_matrix_at->proc~followed_pose proc~update ReferenceFrame%update proc~update->proc~followed_pose proc~drawable_update DrawableTrajectory%drawable_update proc~drawable_update->proc~update proc~fm_update FrameManager%fm_update proc~fm_update->proc~update proc~sphere_update Sphere%sphere_update proc~sphere_update->proc~update proc~terrain_update TerrainBody%terrain_update proc~terrain_update->proc~update proc~world_matrix_at->proc~local_matrix_at proc~world_matrix_at->proc~world_matrix_at proc~data_to_shown data_to_shown proc~data_to_shown->proc~world_matrix_at proc~to_shown to_shown proc~to_shown->proc~data_to_shown proc~art_point_between art_point_between proc~art_point_between->proc~to_shown proc~to_shown_at to_shown_at proc~to_shown_at->proc~to_shown proc~art_point art_point proc~art_point->proc~to_shown_at proc~art_points art_points proc~art_points->proc~to_shown_at proc~intermediates_by_time intermediates_by_time proc~intermediates_by_time->proc~art_point_between proc~marker_point marker_point proc~marker_point->proc~to_shown_at proc~marker_point->proc~art_point proc~update_ribbon_tail RibbonArtist%update_ribbon_tail proc~update_ribbon_tail->proc~art_point_between proc~update_ribbon_tail->proc~art_point proc~update_tail CurveArtist%update_tail proc~update_tail->proc~art_point_between proc~update_tail->proc~art_point proc~write_segments write_segments proc~write_segments->proc~to_shown_at proc~add_intermediates add_intermediates proc~add_intermediates->proc~intermediates_by_time proc~intermediates_by_data intermediates_by_data proc~add_intermediates->proc~intermediates_by_data proc~intermediates_by_distance intermediates_by_distance proc~add_intermediates->proc~intermediates_by_distance proc~curve_pick curve_pick proc~curve_pick->proc~art_point proc~intermediates_by_data->proc~art_point proc~intermediates_by_distance->proc~art_point proc~marker_update MarkerArtist%marker_update proc~marker_update->proc~marker_point proc~marker_update->proc~add_intermediates proc~update_bounds update_bounds proc~marker_update->proc~update_bounds proc~segment_update SegmentArtist%segment_update proc~segment_update->proc~write_segments proc~update_bounds->proc~art_points proc~write_curve CurveArtist%write_curve proc~write_curve->proc~art_points proc~write_ribbon RibbonArtist%write_ribbon proc~write_ribbon->proc~art_points proc~drawable_pick DrawableTrajectory%drawable_pick proc~drawable_pick->proc~curve_pick

Source Code

    pure function quat_multiply(a, b) result(q)
        real(wp), intent(in) :: a(4), b(4)              !! quaternions [x, y, z, w]
        real(wp) :: q(4)
        q(1) = a(4) * b(1) + a(1) * b(4) + a(2) * b(3) - a(3) * b(2)
        q(2) = a(4) * b(2) - a(1) * b(3) + a(2) * b(4) + a(3) * b(1)
        q(3) = a(4) * b(3) + a(1) * b(2) - a(2) * b(1) + a(3) * b(4)
        q(4) = a(4) * b(4) - a(1) * b(1) - a(2) * b(2) - a(3) * b(3)
    end function quat_multiply